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Flexible Force-Vision Control for Surface Following using Multiple Cameras

Publiceringsår: 2004
Språk: Engelska
Sidor: 789-803
Publikation/Tidskrift/Serie: Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004).
Volym: 1
Dokumenttyp: Konferensbidrag
Förlag: IEEE


A flexible method for six-degree-of-freedom combined vision/force control for interaction with a stiff uncalibrated environment is presented. An edge-based rigidbody tracker is used in an observer-based controller, and combined with a six-degree-of-freedom force- or impedance controller. The effect of error sources such as image space measurement noise and calibration errors are considered. Finally, the method is validated in simulations and a surface following experiment using an industrial robot.



  • Technology and Engineering


  • ISBN: 0-7803-8463-6

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